Side-mounted automatic unloading manipulator
By designing two sets of clamping devices that move closer together and using a fixing rod to secure the cargo, the problem of loosening and slipping when gripping irregular or heavy objects by traditional unloading robots is solved, achieving safe and efficient cargo unloading.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-14
- Publication Date
- 2026-06-19
AI Technical Summary
Traditional unloading robots are prone to loosening of grip and slippage of goods when gripping irregular or heavy objects, which affects operational safety.
Two sets of clamping devices are used to move towards the middle and the goods are fixed by a fixing rod. The clamping is achieved by lever principle to avoid loosening and slippage caused by uneven force.
This effectively avoids the problem of goods loosening or slipping due to uneven force during clamping, thus improving operational safety and efficiency.
Smart Images
Figure CN224377123U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of warehousing technology, specifically to a side-mounted automatic unloading robot. Background Technology
[0002] In the field of modern logistics and cargo handling, the application efficiency of automated unloading equipment directly affects the overall efficiency of warehousing and transportation. As a type of efficient cargo handling equipment, side-mounted unloading robots achieve precise gripping and unloading of cargo through three-dimensional spatial movement and are widely used in ports, warehouses, freight stations and other scenarios. However, the current automated unloading robots on the market still have significant technical bottlenecks in structural design and functional implementation, which urgently need targeted improvements.
[0003] Traditional unloading robots often use a single linkage or a single power source to drive the gripping device, relying on a single mechanical structure to complete the gripping action. For example, some devices directly drive the mechanical claw to close via a cylinder, lacking redundant clamping design. This can easily lead to problems such as loosening of the grip and slippage of goods when gripping irregular or heavy objects due to uneven force, seriously affecting operational safety.
[0004] When handling goods with irregular surfaces or uneven mass distribution, the gripping device of a traditional unloading robot may cause the goods to fall out of the gripping device, affecting operational safety. Utility Model Content
[0005] (a) Technical problems to be solved
[0006] To address the shortcomings of existing technologies, this utility model provides a side-mounted automatic unloading robot. By bringing two sets of clamping devices together and placing them at the bottom of the cargo, and by installing fixing rods on the clamping devices, the cargo is secured by the fixing rods when the clamping devices are gripping the cargo. This solves the problems of loose gripping and cargo slippage caused by uneven force due to excessive weight of the cargo.
[0007] (II) Technical Solution
[0008] To achieve the above objectives, this utility model provides the following technical solution:
[0009] A side-mounted automatic unloading robot includes several fixed columns. An X-axis running mechanism, a Y-axis running mechanism, and a Z-axis running mechanism are installed on the upper part of the fixed columns. An X-axis running mechanism is installed on the fixed columns. A first mounting plate is installed on one side of the X-axis running mechanism. A first mounting frame is fixedly connected to one side of the first mounting plate. A Y-axis running mechanism is installed on one side of the first mounting frame. A second mounting plate is fixedly connected to one side of the Y-axis running mechanism. A Z-axis running mechanism is fixedly installed on one side of the second mounting plate.
[0010] The lower part of the Z-operating mechanism is equipped with a robotic arm assembly, which includes a third mounting plate, a second mounting frame, a cylinder, a first connecting rod, and a clamping mechanism. Several second mounting frames are fixedly mounted on the third mounting plate, and a cylinder is fixedly connected to each of the second mounting frames. The output end of the cylinder is rotatably connected to the first connecting rod through a transmission rod. The first connecting rod is mounted on the second mounting frame through a fixed shaft, and the other end of the first connecting rod is fixed with a clamping mechanism.
[0011] Preferably, a plurality of second connecting rods are mounted on the outside of the transmission rod, and the other end of the second connecting rod is rotatably connected to a second fixed rod, which is also mounted on the second mounting bracket via a fixed shaft.
[0012] Preferably, two adjacent fixed columns are connected together by square steel, and a first fixed rod is fixedly connected to one side of each fixed column.
[0013] Preferably, the X-running mechanism includes an X-guide rail, a first motor, and a first slider. A first rack is installed on the lower part of the first fixed rod. The X-guide rail is installed on the first fixed rod, so the first slider is slidably connected to the X-guide rail. A first mounting plate is installed on the first slider. A first motor is fixedly installed on one side of the first mounting plate. The output end of the first motor meshes with the first rack through a gear.
[0014] Preferably, the Y-running mechanism includes a Y-guide rail, a second slider, and a second motor. The Y-guide rail is fixedly connected to one side of the first mounting bracket, and the second slider is fixedly connected to one side of the second mounting plate. The second slider is adapted to the Y-guide rail. A second rack is installed on the upper part of the first mounting bracket. The second motor is also fixedly connected to the second mounting plate on the same side as the second slider. The output end of the second motor is connected to the second rack through a gear.
[0015] Preferably, the Z-operating mechanism includes a third motor, a screw, a lifting frame, a guide rod, and a guide block. The third motor is installed at one end of the second mounting plate, and the output end of the third motor is fixedly connected to the screw. The screw is connected to one end of the lifting frame via a gear. The guide rod is installed on the second mounting plate, and guide blocks are fixedly installed on both sides of the lifting frame. The guide blocks are installed on the guide rod.
[0016] Preferably, the clamping mechanism includes a mounting strip and a mechanical claw, the mounting strip being fixed inside the two sets of first connecting rods, and the mechanical claw being mounted on the lower part of the mounting strip.
[0017] (III) Beneficial Effects
[0018] Compared with the prior art, this utility model provides a side-mounted automatic unloading robot, which has the following advantages:
[0019] The side-mounted automatic unloading robot uses a start cylinder to push a transmission rod, which in turn moves a first connecting rod. Under the action of a fixed shaft, the first connecting rod, based on the lever principle, causes two sets of clamping mechanisms to move inward, placing the clamping mechanisms at the bottom of the cargo. During the operation of the cylinder, the two sets of clamping mechanisms grip the cargo, thereby unloading the cargo from the vehicle and preventing the clamps from loosening due to uneven force caused by excessive weight of the cargo.
[0020] The side-mounted automatic unloading robot uses a transmission rod that drives a second linkage to move while it is in operation. Since one end of the second linkage is connected to a second fixed rod, and the second fixed rod rotates around a fixed axis, the second linkage pushes the second fixed rod to rotate around the fixed axis according to the lever principle. This causes the second fixed rod to press the goods firmly, preventing the goods from slipping off. Attached Figure Description
[0021] Figure 1 This is a partial structural schematic diagram of the present invention.
[0022] Figure 2 This is a schematic diagram of the fixed column structure of this utility model.
[0023] Figure 3 This is an enlarged structural diagram of point A in this utility model.
[0024] Figure 4 This is a schematic diagram of the Y-shaped running mechanism of this utility model.
[0025] Figure 5 This is a schematic diagram of the Z-operating mechanism of this utility model.
[0026] Figure 6 This is a schematic diagram of the structure of the robotic arm component of this utility model.
[0027] Figure 7 This is a schematic diagram of the clamping mechanism of this utility model.
[0028] In the diagram: 1. Fixed column; 11. First fixed rod; 111. First rack; 2. X-axis running mechanism; 21. X-axis guide rail; 22. First motor; 23. First slider; 3. Y-axis running mechanism; 31. Y-axis guide rail; 32. Second slider; 33. Second motor; 4. Z-axis running mechanism; 41. Third motor; 42. Screw; 43. Lifting frame; 44. Guide rod; 45. Guide block; 5. First mounting plate; 51. First mounting frame; 511. Second rack; 52. Second mounting plate; 6. Robotic arm assembly; 61. Third mounting plate; 62. Second mounting frame; 63. Cylinder; 64. First connecting rod; 65. Clamping mechanism; 651. Mounting strip; 652. Mechanical claw; 66. Transmission rod; 67. Fixed shaft; 68. Second connecting rod; 69. Second fixed rod. Detailed Implementation
[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0030] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0031] In addition, a fixed connection refers to a connection in which parts or components are fixed and there is no relative movement; a transmission connection refers to a connection in which mechanical motion or torque is transmitted to other working parts through a transmission component; a sliding connection refers to a connection in which two objects are in contact but not fixed and can slide relative to each other; and a rotational connection refers to a connection in which two objects are in contact but not fixed and can rotate relative to each other.
[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.
[0033] Example 1:
[0034] This embodiment provides a side-mounted automatic unloading robot, which has the following technical features.
[0035] Please see Figure 1-7 The side-mounted automatic unloading robot includes several fixed columns 1. An X-running mechanism 2, a Y-running mechanism 3, and a Z-running mechanism 4 are installed on the upper part of the fixed columns 1. The X-running mechanism 2 is installed on the fixed columns 1. A first mounting plate 5 is installed on one side of the X-running mechanism 2. A first mounting frame 51 is fixedly connected to one side of the first mounting plate 5. The Y-running mechanism 3 is installed on one side of the first mounting frame 51. A second mounting plate 52 is fixedly connected to one side of the Y-running mechanism 3. The Z-running mechanism 4 is fixedly installed on one side of the second mounting plate 52.
[0036] The lower part of the Z-operating mechanism 4 is equipped with a robotic arm assembly 6. The robotic arm assembly 6 includes a third mounting plate 61, a second mounting bracket 62, a cylinder 63, a first connecting rod 64, and a clamping mechanism 65. Several second mounting brackets 62 are fixedly mounted on the third mounting plate 61. A cylinder 63 is fixedly connected to the second mounting bracket 62. The output end of the cylinder 63 is rotatably connected to the first connecting rod 64 through a transmission rod 66. The first connecting rod 64 is mounted on the second mounting bracket 62 through a fixed shaft 67. The other end of the first connecting rod 64 is fixed with a clamping mechanism 65.
[0037] It should be noted that by setting up the X running mechanism 2, Y running mechanism 3 and Z running mechanism 4, the robotic arm assembly 6 can unload goods within the stroke range of each running mechanism. During the gripping process, the cylinder 63 is activated. When the cylinder 63 is working, it pushes the transmission rod 66, which drives the first connecting rod 64 to move. Under the action of the fixed shaft 67, the first connecting rod 64 moves inward according to the lever principle, and the two sets of gripping mechanisms 65 move inward to grip the goods, thereby unloading the goods from the vehicle.
[0038] In an optional embodiment, a plurality of second connecting rods 68 are mounted on the outside of the transmission rod 66, and the other end of the second connecting rod 68 is rotatably connected to a second fixed rod 69, which is also mounted on the second mounting bracket 62 via a fixed shaft 67.
[0039] It should be noted that while the transmission rod 66 is moving, it drives the second connecting rod 68 to move. Since one end of the second connecting rod 68 is connected to the second fixed rod 69, and the second fixed rod 69 rotates around the fixed shaft 67, according to the lever principle, the second connecting rod 68 pushes the second fixed rod 69 to rotate around the fixed shaft 67, thereby clamping the goods with the second fixed rod 69.
[0040] In an optional embodiment, two adjacent fixed columns 1 are connected together by square steel, and a first fixed rod 11 is fixedly connected to one side of the fixed column 1.
[0041] It should be noted that the fixing post 1 is fixed to the ground with expansion bolts, and then adjacent fixing posts 1 are connected together with square steel to make the connection between adjacent fixing posts 1 firm.
[0042] In an optional embodiment, the X running mechanism 2 includes an X guide rail 21, a first motor 22, and a first slider 23. A first rack 111 is mounted on the lower part of the first fixed rod 11. The X guide rail 21 is mounted on the first fixed rod 11, so the first slider 23 is slidably connected to the X guide rail 21. A first mounting plate 5 is mounted on the first slider 23. The first motor 22 is fixedly mounted on one side of the first mounting plate 5. The output end of the first motor 22 meshes with the first rack 111 through gears.
[0043] It should be noted that by starting the first motor 22, since the first slider 23 on the first mounting plate 5 is slidably connected to the X guide rail 21 on the first fixed rod 11, the output end of the first motor 22 meshes with the first rack 111 through gears. The first motor 22 is fixed on one side of the first mounting plate 5. Therefore, when the first motor 22 is working, it drives the first mounting plate 5 to move in the direction of the first rack 111.
[0044] In an optional embodiment, the Y-running mechanism 3 includes a Y-guide rail 31, a second slider 32, and a second motor 33. The Y-guide rail 31 is fixedly connected to one side of the first mounting bracket 51, and the second slider 32 is fixedly connected to one side of the second mounting plate 52. The second slider 32 is adapted to the Y-guide rail 31. A second rack 511 is mounted on the upper part of the first mounting bracket 51. The second motor 33 is also fixedly connected to the second mounting plate 52 on the same side as the second slider 32. The output end of the second motor 33 is meshed with the second rack 511 through gears.
[0045] It should be noted that, when the second motor 33 operates, it drives the second mounting plate 52 to move along the direction of the second rack 511 on the first mounting frame 51.
[0046] In an optional embodiment, the Z-operating mechanism 4 includes a third motor 41, a screw 42, a lifting frame 43, a guide rod 44, and a guide block 45. The third motor 41 is mounted on one end of the second mounting plate 52, and the output end of the third motor 41 is fixedly connected to the screw 42. The screw 42 is connected to one end of the lifting frame 43 via a gear. The guide rod 44 is mounted on the second mounting plate 52, and the guide blocks 45 are fixedly mounted on both sides of the lifting frame 43. The guide blocks 45 are mounted on the guide rod 44.
[0047] It should be noted that springs are installed at both ends of the guide rod 44. When working, the third motor 41 is started. When the third motor 41 is working, it drives the screw 42 to rotate. Since the upper part of the lifting frame 43 is connected to the screw 42, the third motor 41 drives the lifting frame 43 to move up and down when it is working. Through the guide blocks 45 on both sides of the lifting frame 43 and the guide rod 44 on the second mounting plate 52, the lifting frame 43 moves along the direction of the guide rod 44.
[0048] In an optional embodiment, the clamping mechanism 65 includes a mounting strip 651 and a mechanical claw 652, the mounting strip 651 being fixed to the inner side of two sets of first connecting rods 64, and the mechanical claw 652 being mounted on the lower part of the mounting strip 651.
[0049] It should be noted that during installation, the mounting strip 651 is first installed inside the two sets of first connecting rods 64, and then the mechanical claw 652 is installed at the lower part of the mounting strip 651. The detachable mounting strip 651 allows the device to be matched with various different mechanical claws 652.
[0050] Working principle: Through the setup of X-running mechanism 2, Y-running mechanism 3, and Z-running mechanism 4, the first motor 22 is started, driving the first mounting frame 51 to move in the X direction. The second motor 33 is started, driving the second mounting plate 52 to move in the Y direction. The third motor 41 is started, driving the lifting frame 43 to move in the Z direction. This allows the device to move within the stroke range of the first rack 111, the second rack 511, and the screw 42. When gripping materials, the X-running mechanism 2, Y-running mechanism 3, and Z-running mechanism 4 are activated, causing the Z-running mechanism 4 to... When the lower robotic arm assembly 6 approaches the material, the cylinder 63 is activated. When the cylinder 63 is working, it pushes the transmission rod 66, which in turn drives the first connecting rod 64 to move. Under the action of the fixed shaft 67, the first connecting rod 64, according to the lever principle, causes the two clamping mechanisms 65 to move inward and clamp the goods. At the same time, the transmission rod 66 drives the second connecting rod 68 to move. Since one end of the second connecting rod 68 is connected to the second fixed rod 69, and the second fixed rod 69 rotates around the fixed shaft 67, according to the lever principle, the second connecting rod 68 pushes the second fixed rod 69 to rotate around the fixed shaft 67, thereby clamping the goods with the second fixed rod 69.
[0051] In summary, the side-mounted automatic unloading robot uses a starting cylinder 63. When the cylinder 63 is working, it pushes the transmission rod 66, which in turn moves the first connecting rod 64. Under the action of the fixed shaft 67, the first connecting rod 64, based on the lever principle, causes the two sets of clamping mechanisms 65 to move inward, placing the clamping mechanisms 65 at the bottom of the cargo. During the operation of the cylinder 63, the two sets of clamping mechanisms 65 grip the cargo, thereby unloading the cargo from the vehicle and preventing the clamps from loosening due to uneven force caused by excessive weight of the cargo.
[0052] The side-mounted automatic unloading robot arm uses a transmission rod 66 to drive the second connecting rod 68 while it is in operation. Since one end of the second connecting rod 68 is connected to the second fixed rod 69, and the second fixed rod 69 rotates around the fixed shaft 67, according to the lever principle, the second connecting rod 68 pushes the second fixed rod 69 to rotate around the fixed shaft 67, thereby clamping the goods with the second fixed rod 69 and preventing the goods from slipping.
[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0054] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A side-mounted automatic unloading robot, comprising several fixed columns (1), wherein an X-operating mechanism (2), a Y-operating mechanism (3), and a Z-operating mechanism (4) are mounted on the upper part of the fixed columns (1), the X-operating mechanism (2) is mounted on the fixed columns (1), a first mounting plate (5) is mounted on one side of the X-operating mechanism (2), a first mounting frame (51) is fixedly connected to one side of the first mounting plate (5), the Y-operating mechanism (3) is mounted on one side of the first mounting frame (51), a second mounting plate (52) is fixedly connected to one side of the Y-operating mechanism (3), and the Z-operating mechanism (4) is fixedly mounted on one side of the second mounting plate (52), characterized in that: The lower part of the Z-operating mechanism (4) is equipped with a robotic arm assembly (6), which includes a third mounting plate (61), a second mounting bracket (62), a cylinder (63), a first connecting rod (64), and a clamping mechanism (65). A plurality of second mounting brackets (62) are fixedly mounted on the third mounting plate (61). A cylinder (63) is fixedly connected to the second mounting bracket (62). The output end of the cylinder (63) is rotatably connected to the first connecting rod (64) through the transmission rod (66). The first connecting rod (64) is mounted on the second mounting bracket (62) through the fixed shaft (67). The other end of the first connecting rod (64) is fixed with a clamping mechanism (65).
2. The side-mounted automatic unloading robot according to claim 1, characterized in that, A number of second connecting rods (68) are mounted on the outside of the transmission rod (66). The other end of the second connecting rod (68) is rotatably connected to a second fixed rod (69). The second fixed rod (69) is also mounted on the second mounting bracket (62) via a fixed shaft (67).
3. The side-mounted automatic unloading robot according to claim 1, characterized in that, The two adjacent fixed columns (1) are connected together by square steel, and a first fixed rod (11) is fixedly connected to one side of the fixed column (1).
4. The side-mounted automatic unloading robot according to claim 3, characterized in that, The X-running mechanism (2) includes an X-guide rail (21), a first motor (22) and a first slider (23). A first rack (111) is installed on the lower part of the first fixed rod (11). The X-guide rail (21) is installed on the first fixed rod (11), so the first slider (23) is slidably connected on the X-guide rail (21). A first mounting plate (5) is installed on the first slider (23). A first motor (22) is fixedly installed on one side of the first mounting plate (5). The output end of the first motor (22) meshes with the first rack (111) through a gear.
5. The side-mounted automatic unloading robot according to claim 1, characterized in that, The Y-running mechanism (3) includes a Y-guide rail (31), a second slider (32), and a second motor (33). The Y-guide rail (31) is fixedly connected to one side of the first mounting bracket (51), and the second slider (32) is fixedly connected to one side of the second mounting plate (52). The second slider (32) is adapted to the Y-guide rail (31). A second rack (511) is installed on the upper part of the first mounting bracket (51). The second motor (33) is also fixedly connected to the second mounting plate (52) on the same side as the second slider (32). The output end of the second motor (33) is meshed with the second rack (511) through gears.
6. The side-mounted automatic unloading robot according to claim 1, characterized in that, The Z-operating mechanism (4) includes a third motor (41), a screw (42), a lifting frame (43), a guide rod (44), and a guide block (45). The third motor (41) is installed at one end of the second mounting plate (52). The output end of the third motor (41) is fixedly connected to the screw (42). The screw (42) is connected to one end of the lifting frame (43) through a gear. The guide rod (44) is installed on the second mounting plate (52). The guide blocks (45) are fixedly installed on both sides of the lifting frame (43). The guide blocks (45) are installed on the guide rod (44).
7. The side-mounted automatic unloading robot according to claim 1, characterized in that, The clamping mechanism (65) includes a mounting strip (651) and a mechanical claw (652). The mounting strip (651) is fixed inside the two sets of first connecting rods (64), and the mechanical claw (652) is installed on the lower part of the mounting strip (651).